Underwater search and salvage system

ABSTRACT

A system for marine search and salvage operation wherein sensing and grappling means are suspended by a pipe string from a surface vessel.

United States Patent 1191 Horton, III Oct. 22, 1974 [54] UNDERWATERSEARCH AND SALVAGE 2,211,278 8/1940 LeFebvre 248/45 S S 2,355,086 8/1944Lang..... 294/66 A 3,066,805 12/1962 Sullivan 214/1 CM 6] Inventor:Edward t 85 3,147,993 9/1964 Broderson 294/88 Vanderlip Dr., PortugeseBend, 3,194,330 7/1965 Ware 175/321 Calif. 90274 3,247,979 4/1966 Meltonet a1. 214/1 CM 3,381,485 5/1968 Crooks et a1. 214/1 CM X [2 1 Filed: Jy 1972 3,708,990 1/1973 Crooke 214/1 CM x [21] Appl. No.: 271,064

Primary Examiner-Richard A. Schacher Assistant Examiner-James L. Rowland[52] US. Cl. 294/66 A, 114/168, 214/1 CM [51] 1111, c1. 1363c 11/48 $552Mm Byme Edward [58] Field of Search 294/66 A, 66 R; 3/12; 214/] CM;114/168; 9/8 R; 61/465, 69;

248/45; 92/177; 175/321 7] ABSTRACT A system for marine search andsalvage operation [56] References cued wherein sensing and grapplingmeans are suspended UNITED STATES PATENTS by a pipe string from asurface vessel. 25,955 11/1859 Cummings 92/177 2,066,794 1/1936 Miller175/321 5 Chums 5 Draw F'gures l UNDERWATER SEARCH AND SALVAGE SYSTEMThis invention relates to an improved mechanism which can be used withthe system described in US. Pat. No. 3,215,976, Nov. 2, 1965, for thesearch and recovery of objects from the sea floor.

A principal objective of this invention is to diminish or eliminate theeffects of wave-induced vertical motion when a search and salvagemechanism is fixedly supported on the sea floor. The salvage of objectsfrom the sea first requires (1) the location of the object, (2) theattachment of a lifting means to that object; and (3) to raise theobject to the surface. Conventional prior art, free-swimmingsubmersibles currently used for salvage operations have a very limitedcapability to push, pull, rotate, and lift the object which is to beretrieved. For the most part, such submersibles have no means forestablishing a fixed reference point from which to work since theirposition in space is controlled by means of propellers or thrustersworking against gravity and current forces, causing them to be in astate of constant motion. These factors diminish the usefulness of suchsubmersibles and they are impractical for close inspection and work.Moreover, free-swimming submersibles normally carry their own powersupply in the form of batteries and are thus limited in endurancebecause of the necessity to return to the surface for re-charging.

Another disadvantage of free-swimming submersibles is that watercurrents induced by the positioning thrusters discurb the sea floorsediment which produces clouds of fine particles which impair lightingand visibility hindering the searching capability.

In view of the above, a principal objective of this invention is toprovide means wherein a fixed point of reference is established byphysical contact with the sea floor from which detailed inspection andwork can be performed and wherein a connection to the sea floor providessufficient reaction to the forces required for maneuvering the device.

Another important objective of this invention is to provide means formaneuvering the search and salvage mechanism described herein and itsattached search and recovering equipment in relation to a point ofreference in such a manner as to preclude the disturbance of sea floorsediment.

A still further objective of this invention is to provide a search andrecovery mechanism which receives power directly and continuously from asurface vessel.

Another important objective of this invention is to provide a systemhaving sufficient lifting force to raise anobject, once found, by theapparatus of this invention.

These and other objectives of this invention will become apparent fromthe following detailed description when viewed in light of theaccompanying drawings wherein:

FIG. 1 is a perspective view of the search and salvage mechanism of thisinvention; and

FIGS. 2-5 are diagrammatic views showing the operation of the system.

Referring now to the drawings wherein like numerals indicate like parts,the search and salvage mechanism of this invention is indicated by thenumeral 10. The mechanism is suspended from a surface vessel 12 by apipe string 14.

Near the lower end of pipe string 14 is a telescopic connection 16comprised of a cylinder 18 formed with a polygonal chamber 20 whichreciprocally receives a piston head 22 having a peripheral surface thecomplement of chamber 20. Depending downwardly from the piston head 22is a shaft 24 which terminates in a point at its lower end 26.Connections such as 16 are known as bumper-subs and are well known inthe well drilling art. Closely adjacent point 26 is a plate 27 whichlimits the depth of penetration into the sea floor and which aids inproviding vertical support to to the system.

Intermediate the plate 27 and the connection 16 is a linkage system 30supporting a tool mount 32 at one end for separating the verticalmovements of the ship caused by wave action from the mechanism.

A crossbar 34 is secured to pin 24 below the bumpersub 16. Extendingfrom the outer ends thereof is a pair of stub shafts 36a and 36b.Pivotally mounted on the sub shafts are linkages 38a and 38b which havetheir other ends pivotally connected to the ends of a pair of linkagemembers 40a and 40b. A motor 42 is mounted on shaft 36b and is connectedto linkage element 38b for moving the elements 380 and 38b in the arc ofarrow A. A second motor 44 is mounted on a pivot pin 39b between members38b and 40b for swinging the linkage arms 40a and 40b in the areindicated by the arrow B.

The tool mount 32 includes bracket 46 mounted for rotation on pins 48aand 48b of the outer ends of arms 40a and 40b. A motor 50 is providedfor pivoting the bracket to the desired degree of attitude. A grapplingmechanism 52 is mounted intermediate the end of bracket 46, the teeth 54of which are opened and closed by action of a hydraulic jack 56. Themechanism 52 can be rotated about its logitudinal axis by way of anhydraulic motor 58.

On one side of the grappling hook, in the embodiment shown, is a lightsource and on the other side thereof is a television camera 62. Thelight 60 and camera 62 comprise the sensor mechanism for the embodimentdisclosed. It should be understood that other apparatus such asmanipulators, underwater welding equipment, pumps, winches and othersensors, such as magnetometers, sonar, photographic cameras, and thelike, could alsobe mounted thereon.

The energy conductor 70, either hydraulic and/or electrical for poweringthe motors 42, 44, 50, 58 and 56 are not shown fully extended to eachunit so as to not complicate the illustrations. However, it should beunderstood that these conductors are connected to their respective unitsprior to lowering from ship 12 and are payed out with the pipeline.Sufficient play'is allowed so that the units will not be hindered intheir movements because of conduit length.

In FIG. 2 the assembly 10 is being lowered through a center well of thesurface vessel 12 and is suspended by the pipe string 14 from the shipsdrilling tower. In FIG. 3 the mechanism is suspended just about the seafloor in search of an object. The forward motion of the surface vesselpermits the sensors to search systematically an area along the seafioor. When the object is discovered, the pipe string is lowered toimplant pin 26 such position is shown in FIG. 4 insolid lines andanother represented by dotted lines.

Once proper inspection and study is completed the claw members 54 can bemaneuvered to a position for attachment to the object one wishes toretrieve. The object can be lifted from the sea floor as seen in FIG. 5.

Several aspects of linkage system 30 should be noted. First of all, dueto its ability to change the angle between members 38 and 40, it iscollapsible to permit movement vertically through the center-well of thedrilling vessel. Secondly, the linkage system permits the drill pipe tomove vertically while the sensor elements remain relatively stationary.Further, the sensors are moveable fore and aft relative to the drilltype which maintains essentially the same balance. Additionally, theunit can be rotated by rotating the pipe string while the level of thelinkage unit and its sensors will remain constant. Thus, a means hasbeen provided whereby the angular position of the sensors iscontrollable directly from the surface by means of positioning theangular disposition of the drill type. Additionally, the raising andlowering of the drill pipe can position the vertical position of thesensors. Since no propellor or thruster units are utilized, the sedimenton the ocean floor is not disturbed and creates no hinderance tosearching.

In a general manner, while there has been disclosed an effective andefficient embodiment of the invention,

4 -a pointed member at the lower end of said support for penetrating thesea floor;

means for limiting thedepth of penetration of said pointed member,

a vertically slidable coupler means between said pipe string and saidsupport'for reducing the effect of vertical sea surface movements ofsaid ship but which transmits rotary movement to said support from saidpipe string;

mounting means for a search and salvage device;

linkage means connected to said support for adjustably supporting saidmounting means for vertical and horizontal movement with respect to saidsupport;

actuating means for moving said linkage means horizontally andvertically relative to said support;

whereby said mounting means is rotationally positioned by a rotation ofsaid pipe string and horizontally and vertically positioned by action ofsaid linkage means and said drive means therefor.

2. The invention of claim 1 wherein said linkage means is comprised of afirst pair of arms having first ends rotatably secured to said support,a second pair of arms having first ends rotatably secured to the otherends of said first pair of arms and said mounting means is supported onthe other ends of said second pair of arms.

3. The invention of claim 1 wherein said means for limiting penetrationis a radially extending plate-like member carried by said supportadjacent said pointed member.

4. The invention of claim 1 wherein said coupler is comprised of acylinder having a four-sided chamber and a four-sided piston at theupper end of said support is reciprocally received in said chamber andmeans for limiting the movement of said piston in said chamber.

5. The invention of claim 1 wherein said actuating means comprisesindependent power means operably connected to each of said first andsecond pairs of arms.

1. An underwater search and salvage system for locating and returningobjects from the sea floor comprising a pipe string extending downwardlyfrom a surface ship; a support; a pointed member at the lower end ofsaid support for penetrating the sea floor; means for limiting the depthof penetration of said pointed member, a vertically slidable couplermeans between said pipe string and said support for reducing the effectof vertical sea surface movements of said ship but which transmitsrotary movement to said support from said pipe string; mounting meansfor a search and salvage device; linkage means connected to said supportfor adjustably supporting said mounting means for vertical andhorizontal movement with respect to said support; actuating means formoving said linkage means horizontally and vertically relative to saidsupport; whereby said mounting means is rotationally positioned by arotation of said pipe string and horizontally and vertically positionedby action of said linkage means and said drive means therefor.
 2. Theinvention of claim 1 wherein said linkage means is comprised of a firstpair of arms having first ends rotatably secured to said support, asecond pair of arms having first ends rotatably secured to the otherends of said first pair of arms and said mounting means is supported onthe other ends of said second pair of arms.
 3. The invention of claim 1wherein said means for limiting penetration is a radially extendingplate-like member carried by said support adjacent said pointed member.4. The invention of claim 1 wherein said coupler is comprised of acylinder having a four-sided chamber and a four-sided piston at theupper end of said support is reciprocally received in said chamber andmeans for limiting the movement of said piston in said chamber.
 5. Theinvention of claim 1 wherein said actuating means comprises independentpower means operably connected to each of said first and second pairs ofarms.